Managing robot resources
Methods, systems, and devices for managing robot resources are described. A robot receives from an application a request to reserve a particular set of physical resources of the robot. The robot then determines that each of the physical resources in the set are available to the application and, based on the determination, allocates exclusive use of the particular set of resources to the application by (i) generating a token corresponding to the set of resources, (ii) providing the token to the application, and (iii) updating token data that associates the token with the set of resources. The robot then controls access to the particular set of resources such that, while token data indicates that the token is valid, commands from applications that involve the set of resources are only executed when provided with the token corresponding to the allocation of access to the particular set of resources.
1. A method performed by one or more computing devices, the method comprising:
storing, by the one or more computing devices, reservation data that indicates reservations of physical resources of a robot and tokens corresponding to the reservations of the physical resources;
receiving, by the one or more computing devices, a command involving access to one or more physical resources of the robot, wherein the command is associated with a token;
based on the reservation data, determining, by the one or more computing devices, whether the token associated with the command corresponds to a reservation of the one or more resources; and
granting or denying access, by the one or more computing devices, to the one or more physical resources of the robot in response to the command based on the determination whether the token associated with the command corresponds to a reservation of the one or more physical resources of the robot.
2. The method of claim 1 , wherein the one or more computing devices are one or more computing devices of the robot.
3. The method of claim 1 , wherein the reservation data is stored by the robot.
4. The method of claim 1 , wherein the command is a command from software running on the robot.
5. The method of claim 1 , wherein the command includes the token.
6. The method of claim 1 , wherein the method includes receiving the token in association with the command; and
wherein determining whether the token associated with the command corresponds to a reservation of the one or more resources comprises determining, based on the reservation data, whether the token received in association with the command matches a token stored in association with for a valid reservation of the one or more physical resources that the command attempts to access.
7. The method of claim 1 , comprising granting access to the one or more physical resources of the robot in response based on determining that the token associated with the command matches a token associated with a reservation of the one or more physical resources of the robot.
8. The method of claim 1 , comprising denying access to the one or more physical resources of the robot in response based on determining that the token associated with the command does not match a token associated with a reservation of the one or more physical resources of the robot.
9. The method of claim 1 , wherein the robot is configured to require reservation of the physical resources before permitting commands involving the physical resources to be carried out by the robot.
10. The method of claim 1 , wherein the one or more physical resources comprise multiple resources, and wherein the token corresponds to a reservation of the multiple resources.
11. A system comprising:
one or more processors; and
one or more machine-readable media storing instructions that, when executed by the one or more processors, are operable to cause the system to perform operations comprising:
storing reservation data that indicates reservations of physical resources of a robot and tokens corresponding to the reservations of the physical resources;
receiving a command involving access to one or more physical resources of the robot, wherein the command is associated with a token;
determining, based on the reservation data, whether the token associated with the command corresponds to a reservation of the one or more resources; and
granting or denying access to the one or more physical resources of the robot in response to the command based on the determination whether the token associated with the command corresponds to a reservation of the one or more physical resources of the robot.
12. The system of claim 11 , wherein the one or more processors are one or more processors of the robot.
13. The system of claim 11 , wherein the reservation data is stored by the robot.
14. The system of claim 11 , wherein the command is a command from software running on the robot.
15. The system of claim 11 , wherein the command includes the token.
16. The system of claim 11 , wherein the operations comprise receiving the token in association with the command; and
wherein determining whether the token associated with the command corresponds to a reservation of the one or more resources comprises determining, based on the reservation data, whether the token received in association with the command matches a token stored in association with for a valid reservation of the one or more physical resources that the command attempts to access.
17. The system of claim 11 , comprising granting access to the one or more physical resources of the robot in response based on determining that the token associated with the command matches a token associated with a reservation of the one or more physical resources of the robot.
18. The system of claim 11 , comprising denying access to the one or more physical resources of the robot in response based on determining that the token associated with the command does not match a token associated with a reservation of the one or more physical resources of the robot.
19. One or more non-transitory machine-readable media storing instructions that, when executed by the one or more computing devices, are operable to cause the one or more computing devices to perform operations comprising:
storing reservation data that indicates reservations of physical resources of a robot and tokens corresponding to the reservations of the physical resources;
receiving a command involving access to one or more physical resources of the robot, wherein the command is associated with a token;
determining, based on the reservation data, whether the token associated with the command corresponds to a reservation of the one or more resources; and
granting or denying access to the one or more physical resources of the robot in response to the command based on the determination whether the token associated with the command corresponds to a reservation of the one or more physical resources of the robot.
20. The one or more non-transitory machine-readable media of claim 19 , comprising granting access to the one or more physical resources of the robot in response based on determining that the token associated with the command matches a token associated with a reservation of the one or more physical resources of the robot.